Commit | Line | Data |
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88443c6b JM |
1 | /* |
2 | This file is part of Smoothie (http://smoothieware.org/). The motion control part is heavily based on Grbl (https://github.com/simen/grbl). | |
3 | Smoothie is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. | |
4 | Smoothie is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. | |
5 | You should have received a copy of the GNU General Public License along with Smoothie. If not, see <http://www.gnu.org/licenses/>. | |
6 | */ | |
7 | ||
8 | #include "ZProbe.h" | |
9 | ||
10 | #include "Kernel.h" | |
11 | #include "BaseSolution.h" | |
12 | #include "Config.h" | |
13 | #include "Robot.h" | |
14 | #include "StepperMotor.h" | |
15 | #include "StreamOutputPool.h" | |
16 | #include "Gcode.h" | |
17 | #include "Conveyor.h" | |
18 | #include "Stepper.h" | |
19 | #include "checksumm.h" | |
20 | #include "ConfigValue.h" | |
21 | #include "SlowTicker.h" | |
22 | #include "Planner.h" | |
037c350d | 23 | #include "SerialMessage.h" |
9f6f04a5 JM |
24 | #include "PublicDataRequest.h" |
25 | #include "EndstopsPublicAccess.h" | |
26 | #include "PublicData.h" | |
ce9d2bda | 27 | #include "LevelingStrategy.h" |
a157d099 | 28 | #include "StepTicker.h" |
37102904 | 29 | #include "utils.h" |
a5542cae JM |
30 | |
31 | // strategies we know about | |
f6efadb0 | 32 | #include "DeltaCalibrationStrategy.h" |
a5542cae | 33 | #include "ThreePointStrategy.h" |
43b9b200 | 34 | #include "ZGridStrategy.h" |
88443c6b | 35 | |
88443c6b JM |
36 | #define enable_checksum CHECKSUM("enable") |
37 | #define probe_pin_checksum CHECKSUM("probe_pin") | |
38 | #define debounce_count_checksum CHECKSUM("debounce_count") | |
681a62d7 JM |
39 | #define slow_feedrate_checksum CHECKSUM("slow_feedrate") |
40 | #define fast_feedrate_checksum CHECKSUM("fast_feedrate") | |
b469231e | 41 | #define return_feedrate_checksum CHECKSUM("return_feedrate") |
681a62d7 | 42 | #define probe_height_checksum CHECKSUM("probe_height") |
f3b66360 | 43 | #define gamma_max_checksum CHECKSUM("gamma_max") |
88443c6b | 44 | |
681a62d7 | 45 | // from endstop section |
b7cd847e | 46 | #define delta_homing_checksum CHECKSUM("delta_homing") |
88443c6b JM |
47 | |
48 | #define X_AXIS 0 | |
49 | #define Y_AXIS 1 | |
50 | #define Z_AXIS 2 | |
51 | ||
dd0a7cfa JM |
52 | #define STEPPER THEKERNEL->robot->actuators |
53 | #define STEPS_PER_MM(a) (STEPPER[a]->get_steps_per_mm()) | |
56ce2b5a JM |
54 | #define Z_STEPS_PER_MM STEPS_PER_MM(Z_AXIS) |
55 | ||
7d6fe308 JM |
56 | #define abs(a) ((a<0) ? -a : a) |
57 | ||
88443c6b JM |
58 | void ZProbe::on_module_loaded() |
59 | { | |
60 | // if the module is disabled -> do nothing | |
56ce2b5a | 61 | if(!THEKERNEL->config->value( zprobe_checksum, enable_checksum )->by_default(false)->as_bool()) { |
88443c6b JM |
62 | // as this module is not needed free up the resource |
63 | delete this; | |
64 | return; | |
65 | } | |
88443c6b JM |
66 | |
67 | // load settings | |
68 | this->on_config_reload(this); | |
69 | // register event-handlers | |
88443c6b | 70 | register_for_event(ON_GCODE_RECEIVED); |
88443c6b | 71 | |
a157d099 | 72 | THEKERNEL->step_ticker->register_acceleration_tick_handler([this](){acceleration_tick(); }); |
778093ce JM |
73 | |
74 | // we read the probe in this timer, currently only for G38 probes. | |
75 | probing= false; | |
76 | THEKERNEL->slow_ticker->attach(1000, this, &ZProbe::read_probe); | |
88443c6b JM |
77 | } |
78 | ||
79 | void ZProbe::on_config_reload(void *argument) | |
80 | { | |
681a62d7 JM |
81 | this->pin.from_string( THEKERNEL->config->value(zprobe_checksum, probe_pin_checksum)->by_default("nc" )->as_string())->as_input(); |
82 | this->debounce_count = THEKERNEL->config->value(zprobe_checksum, debounce_count_checksum)->by_default(0 )->as_number(); | |
83 | ||
ce9d2bda | 84 | // get strategies to load |
f6efadb0 JM |
85 | vector<uint16_t> modules; |
86 | THEKERNEL->config->get_module_list( &modules, leveling_strategy_checksum); | |
87 | for( auto cs : modules ){ | |
88 | if( THEKERNEL->config->value(leveling_strategy_checksum, cs, enable_checksum )->as_bool() ){ | |
89 | bool found= false; | |
90 | // check with each known strategy and load it if it matches | |
91 | switch(cs) { | |
92 | case delta_calibration_strategy_checksum: | |
93 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
94 | found= true; | |
95 | break; | |
a5542cae JM |
96 | |
97 | case three_point_leveling_strategy_checksum: | |
98 | // NOTE this strategy is mutually exclusive with the delta calibration strategy | |
99 | this->strategies.push_back(new ThreePointStrategy(this)); | |
100 | found= true; | |
101 | break; | |
102 | ||
43b9b200 QH |
103 | case ZGrid_leveling_checksum: |
104 | this->strategies.push_back(new ZGridStrategy(this)); | |
105 | found= true; | |
106 | break; | |
107 | ||
f6efadb0 | 108 | // add other strategies here |
f6efadb0 | 109 | //case zheight_map_strategy: |
a5542cae | 110 | // this->strategies.push_back(new ZHeightMapStrategy(this)); |
f6efadb0 JM |
111 | // found= true; |
112 | // break; | |
113 | } | |
114 | if(found) this->strategies.back()->handleConfig(); | |
115 | } | |
116 | } | |
ce9d2bda | 117 | |
57e927fa | 118 | // need to know if we need to use delta kinematics for homing |
ce9d2bda | 119 | this->is_delta = THEKERNEL->config->value(delta_homing_checksum)->by_default(false)->as_bool(); |
ce9d2bda | 120 | |
f6efadb0 | 121 | // default for backwards compatibility add DeltaCalibrationStrategy if a delta |
57e927fa | 122 | // will be deprecated |
f6efadb0 | 123 | if(this->strategies.empty()) { |
57e927fa JM |
124 | if(this->is_delta) { |
125 | this->strategies.push_back(new DeltaCalibrationStrategy(this)); | |
126 | this->strategies.back()->handleConfig(); | |
127 | } | |
037c350d | 128 | } |
681a62d7 | 129 | |
f3b66360 | 130 | this->probe_height = THEKERNEL->config->value(zprobe_checksum, probe_height_checksum)->by_default(5.0F)->as_number(); |
681a62d7 JM |
131 | this->slow_feedrate = THEKERNEL->config->value(zprobe_checksum, slow_feedrate_checksum)->by_default(5)->as_number(); // feedrate in mm/sec |
132 | this->fast_feedrate = THEKERNEL->config->value(zprobe_checksum, fast_feedrate_checksum)->by_default(100)->as_number(); // feedrate in mm/sec | |
b469231e | 133 | this->return_feedrate = THEKERNEL->config->value(zprobe_checksum, return_feedrate_checksum)->by_default(0)->as_number(); // feedrate in mm/sec |
f3b66360 | 134 | this->max_z = THEKERNEL->config->value(gamma_max_checksum)->by_default(500)->as_number(); // maximum zprobe distance |
88443c6b JM |
135 | } |
136 | ||
fa7bcf7e | 137 | bool ZProbe::wait_for_probe(int& steps) |
88443c6b JM |
138 | { |
139 | unsigned int debounce = 0; | |
140 | while(true) { | |
141 | THEKERNEL->call_event(ON_IDLE); | |
aa896868 JM |
142 | if(THEKERNEL->is_halted()){ |
143 | // aborted by kill | |
144 | return false; | |
145 | } | |
146 | ||
88443c6b | 147 | // if no stepper is moving, moves are finished and there was no touch |
fa7bcf7e | 148 | if( !STEPPER[Z_AXIS]->is_moving() && (!is_delta || (!STEPPER[Y_AXIS]->is_moving() && !STEPPER[Z_AXIS]->is_moving())) ) { |
88443c6b JM |
149 | return false; |
150 | } | |
151 | ||
152 | // if the touchprobe is active... | |
153 | if( this->pin.get() ) { | |
154 | //...increase debounce counter... | |
155 | if( debounce < debounce_count) { | |
156 | // ...but only if the counter hasn't reached the max. value | |
157 | debounce++; | |
158 | } else { | |
159 | // ...otherwise stop the steppers, return its remaining steps | |
fa7bcf7e JM |
160 | if(STEPPER[Z_AXIS]->is_moving()){ |
161 | steps= STEPPER[Z_AXIS]->get_stepped(); | |
162 | STEPPER[Z_AXIS]->move(0, 0); | |
163 | } | |
164 | if(is_delta) { | |
165 | for( int i = X_AXIS; i <= Y_AXIS; i++ ) { | |
166 | if ( STEPPER[i]->is_moving() ) { | |
167 | STEPPER[i]->move(0, 0); | |
168 | } | |
88443c6b JM |
169 | } |
170 | } | |
171 | return true; | |
172 | } | |
173 | } else { | |
174 | // The probe was not hit yet, reset debounce counter | |
175 | debounce = 0; | |
176 | } | |
177 | } | |
178 | } | |
88443c6b | 179 | |
771fb7b2 RM |
180 | // single probe with custom feedrate |
181 | // returns boolean value indicating if probe was triggered | |
36a21d48 | 182 | bool ZProbe::run_probe_feed(int& steps, float feedrate, float max_dist) |
88443c6b | 183 | { |
72833629 JM |
184 | // not a block move so disable the last tick setting |
185 | for ( int c = X_AXIS; c <= Z_AXIS; c++ ) { | |
186 | STEPPER[c]->set_moved_last_block(false); | |
187 | } | |
188 | ||
88443c6b JM |
189 | // Enable the motors |
190 | THEKERNEL->stepper->turn_enable_pins_on(); | |
771fb7b2 | 191 | this->current_feedrate = feedrate * Z_STEPS_PER_MM; // steps/sec |
36a21d48 | 192 | float maxz= max_dist < 0 ? this->max_z*2 : max_dist; |
88443c6b JM |
193 | |
194 | // move Z down | |
6f6677fc | 195 | STEPPER[Z_AXIS]->move(true, maxz * Z_STEPS_PER_MM, 0); // always probes down, no more than 2*maxz |
b7cd847e JM |
196 | if(this->is_delta) { |
197 | // for delta need to move all three actuators | |
6f6677fc JM |
198 | STEPPER[X_AXIS]->move(true, maxz * STEPS_PER_MM(X_AXIS), 0); |
199 | STEPPER[Y_AXIS]->move(true, maxz * STEPS_PER_MM(Y_AXIS), 0); | |
b7cd847e JM |
200 | } |
201 | ||
797b4403 | 202 | // start acceleration processing |
7d6fe308 JM |
203 | this->running = true; |
204 | ||
fa7bcf7e | 205 | bool r = wait_for_probe(steps); |
681a62d7 | 206 | this->running = false; |
db00af9a JM |
207 | STEPPER[X_AXIS]->move(0, 0); |
208 | STEPPER[Y_AXIS]->move(0, 0); | |
209 | STEPPER[Z_AXIS]->move(0, 0); | |
88443c6b JM |
210 | return r; |
211 | } | |
212 | ||
771fb7b2 RM |
213 | // single probe with either fast or slow feedrate |
214 | // returns boolean value indicating if probe was triggered | |
215 | bool ZProbe::run_probe(int& steps, bool fast) | |
216 | { | |
217 | float feedrate = (fast ? this->fast_feedrate : this->slow_feedrate); | |
218 | return run_probe_feed(steps, feedrate); | |
771fb7b2 RM |
219 | } |
220 | ||
681a62d7 JM |
221 | bool ZProbe::return_probe(int steps) |
222 | { | |
223 | // move probe back to where it was | |
b469231e RM |
224 | |
225 | float fr; | |
226 | if(this->return_feedrate != 0) { // use return_feedrate if set | |
227 | fr = this->return_feedrate; | |
228 | } else { | |
229 | fr = this->slow_feedrate*2; // nominally twice slow feedrate | |
230 | if(fr > this->fast_feedrate) fr = this->fast_feedrate; // unless that is greater than fast feedrate | |
231 | } | |
232 | ||
903725bb | 233 | this->current_feedrate = fr * Z_STEPS_PER_MM; // feedrate in steps/sec |
681a62d7 JM |
234 | bool dir= steps < 0; |
235 | steps= abs(steps); | |
236 | ||
6f6677fc | 237 | STEPPER[Z_AXIS]->move(dir, steps, 0); |
681a62d7 | 238 | if(this->is_delta) { |
6f6677fc JM |
239 | STEPPER[X_AXIS]->move(dir, steps, 0); |
240 | STEPPER[Y_AXIS]->move(dir, steps, 0); | |
681a62d7 | 241 | } |
7d6fe308 JM |
242 | |
243 | this->running = true; | |
fa7bcf7e | 244 | while(STEPPER[Z_AXIS]->is_moving() || (is_delta && (STEPPER[X_AXIS]->is_moving() || STEPPER[Y_AXIS]->is_moving())) ) { |
681a62d7 JM |
245 | // wait for it to complete |
246 | THEKERNEL->call_event(ON_IDLE); | |
db00af9a JM |
247 | if(THEKERNEL->is_halted()){ |
248 | // aborted by kill | |
249 | break; | |
250 | } | |
681a62d7 JM |
251 | } |
252 | ||
253 | this->running = false; | |
db00af9a JM |
254 | STEPPER[X_AXIS]->move(0, 0); |
255 | STEPPER[Y_AXIS]->move(0, 0); | |
256 | STEPPER[Z_AXIS]->move(0, 0); | |
681a62d7 JM |
257 | |
258 | return true; | |
259 | } | |
260 | ||
97832d6d JM |
261 | bool ZProbe::doProbeAt(int &steps, float x, float y) |
262 | { | |
263 | int s; | |
264 | // move to xy | |
265 | coordinated_move(x, y, NAN, getFastFeedrate()); | |
266 | if(!run_probe(s)) return false; | |
267 | ||
268 | // return to original Z | |
269 | return_probe(s); | |
270 | steps = s; | |
271 | ||
272 | return true; | |
273 | } | |
fc7b9a7b | 274 | |
0e44e7d7 JM |
275 | float ZProbe::probeDistance(float x, float y) |
276 | { | |
277 | int s; | |
278 | if(!doProbeAt(s, x, y)) return NAN; | |
279 | return zsteps_to_mm(s); | |
280 | } | |
281 | ||
88443c6b JM |
282 | void ZProbe::on_gcode_received(void *argument) |
283 | { | |
284 | Gcode *gcode = static_cast<Gcode *>(argument); | |
88443c6b | 285 | |
57e927fa | 286 | if( gcode->has_g && gcode->g >= 29 && gcode->g <= 32) { |
36a21d48 | 287 | |
25dc6344 | 288 | // make sure the probe is defined and not already triggered before moving motors |
36a21d48 | 289 | if(!this->pin.connected()) { |
25dc6344 JM |
290 | gcode->stream->printf("ZProbe not connected.\n"); |
291 | return; | |
292 | } | |
293 | if(this->pin.get()) { | |
294 | gcode->stream->printf("ZProbe triggered before move, aborting command.\n"); | |
295 | return; | |
296 | } | |
297 | ||
681a62d7 | 298 | if( gcode->g == 30 ) { // simple Z probe |
17f26e01 | 299 | // NOTE currently this will not work for rotary deltas, use G38.2/3 Z instead |
88443c6b JM |
300 | // first wait for an empty queue i.e. no moves left |
301 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
302 | ||
681a62d7 | 303 | int steps; |
771fb7b2 RM |
304 | bool probe_result; |
305 | if(gcode->has_letter('F')) { | |
306 | probe_result = run_probe_feed(steps, gcode->get_value('F') / 60); | |
307 | } else { | |
308 | probe_result = run_probe(steps); | |
309 | } | |
310 | ||
311 | if(probe_result) { | |
cea695db | 312 | gcode->stream->printf("Z:%1.4f C:%d\n", zsteps_to_mm(steps), steps); |
bd96f4d7 JM |
313 | // move back to where it started, unless a Z is specified |
314 | if(gcode->has_letter('Z')) { | |
315 | // set Z to the specified value, and leave probe where it is | |
316 | THEKERNEL->robot->reset_axis_position(gcode->get_value('Z'), Z_AXIS); | |
681a62d7 JM |
317 | } else { |
318 | return_probe(steps); | |
bd96f4d7 | 319 | } |
681a62d7 | 320 | } else { |
bd96f4d7 | 321 | gcode->stream->printf("ZProbe not triggered\n"); |
88443c6b | 322 | } |
fc7b9a7b | 323 | |
ce9d2bda | 324 | } else { |
aaf0c0ee | 325 | if(!gcode->has_letter('P')) { |
fc92f0ac JM |
326 | // find the first strategy to handle the gcode |
327 | for(auto s : strategies){ | |
328 | if(s->handleGcode(gcode)) { | |
329 | return; | |
330 | } | |
331 | } | |
332 | gcode->stream->printf("No strategy found to handle G%d\n", gcode->g); | |
333 | ||
334 | }else{ | |
aaf0c0ee JM |
335 | // P paramater selects which strategy to send the code to |
336 | // they are loaded in the order they are defined in config, 0 being the first, 1 being the second and so on. | |
337 | uint16_t i= gcode->get_value('P'); | |
338 | if(i < strategies.size()) { | |
fc92f0ac | 339 | if(!strategies[i]->handleGcode(gcode)){ |
aaf0c0ee | 340 | gcode->stream->printf("strategy #%d did not handle G%d\n", i, gcode->g); |
fc92f0ac | 341 | } |
ce9d2bda | 342 | return; |
fc92f0ac JM |
343 | |
344 | }else{ | |
aaf0c0ee | 345 | gcode->stream->printf("strategy #%d is not loaded\n", i); |
037c350d | 346 | } |
fc7b9a7b | 347 | } |
88443c6b JM |
348 | } |
349 | ||
6c0193b3 | 350 | } else if(gcode->has_g && gcode->g == 38 ) { // G38.2 Straight Probe with error, G38.3 straight probe without error |
36a21d48 JM |
351 | // linuxcnc/grbl style probe http://www.linuxcnc.org/docs/2.5/html/gcode/gcode.html#sec:G38-probe |
352 | if(gcode->subcode != 2 && gcode->subcode != 3) { | |
07186543 | 353 | gcode->stream->printf("error:Only G38.2 and G38.3 are supported\n"); |
36a21d48 JM |
354 | return; |
355 | } | |
356 | ||
357 | // make sure the probe is defined and not already triggered before moving motors | |
358 | if(!this->pin.connected()) { | |
e714bd32 | 359 | gcode->stream->printf("error:ZProbe not connected.\n"); |
36a21d48 JM |
360 | return; |
361 | } | |
17f26e01 | 362 | |
36a21d48 | 363 | if(this->pin.get()) { |
e714bd32 | 364 | gcode->stream->printf("error:ZProbe triggered before move, aborting command.\n"); |
36a21d48 JM |
365 | return; |
366 | } | |
367 | ||
368 | // first wait for an empty queue i.e. no moves left | |
369 | THEKERNEL->conveyor->wait_for_empty_queue(); | |
370 | ||
7484e84a JM |
371 | // turn off any compensation transform |
372 | auto savect= THEKERNEL->robot->compensationTransform; | |
373 | THEKERNEL->robot->compensationTransform= nullptr; | |
374 | ||
36a21d48 JM |
375 | if(gcode->has_letter('X')) { |
376 | // probe in the X axis | |
a2f1ce04 | 377 | probe_XYZ(gcode, X_AXIS); |
36a21d48 JM |
378 | |
379 | }else if(gcode->has_letter('Y')) { | |
380 | // probe in the Y axis | |
a2f1ce04 | 381 | probe_XYZ(gcode, Y_AXIS); |
36a21d48 JM |
382 | |
383 | }else if(gcode->has_letter('Z')) { | |
a2f1ce04 JM |
384 | // probe in the Z axis |
385 | probe_XYZ(gcode, Z_AXIS); | |
36a21d48 | 386 | |
36a21d48 | 387 | }else{ |
e714bd32 | 388 | gcode->stream->printf("error:at least one of X Y or Z must be specified\n"); |
36a21d48 | 389 | } |
7484e84a JM |
390 | |
391 | // restore compensationTransform | |
392 | THEKERNEL->robot->compensationTransform= savect; | |
393 | ||
36a21d48 JM |
394 | return; |
395 | ||
88443c6b JM |
396 | } else if(gcode->has_m) { |
397 | // M code processing here | |
3434eac0 RM |
398 | int c; |
399 | switch (gcode->m) { | |
400 | case 119: | |
401 | c = this->pin.get(); | |
402 | gcode->stream->printf(" Probe: %d", c); | |
403 | gcode->add_nl = true; | |
404 | break; | |
405 | ||
406 | case 670: | |
407 | if (gcode->has_letter('S')) this->slow_feedrate = gcode->get_value('S'); | |
408 | if (gcode->has_letter('K')) this->fast_feedrate = gcode->get_value('K'); | |
409 | if (gcode->has_letter('R')) this->return_feedrate = gcode->get_value('R'); | |
410 | if (gcode->has_letter('Z')) this->max_z = gcode->get_value('Z'); | |
411 | if (gcode->has_letter('H')) this->probe_height = gcode->get_value('H'); | |
412 | break; | |
413 | ||
414 | case 500: // save settings | |
415 | case 503: // print settings | |
fc92f0ac JM |
416 | gcode->stream->printf(";Probe feedrates Slow/fast(K)/Return (mm/sec) max_z (mm) height (mm):\nM670 S%1.2f K%1.2f R%1.2f Z%1.2f H%1.2f\n", |
417 | this->slow_feedrate, this->fast_feedrate, this->return_feedrate, this->max_z, this->probe_height); | |
418 | ||
3434eac0 RM |
419 | // fall through is intended so leveling strategies can handle m-codes too |
420 | ||
421 | default: | |
422 | for(auto s : strategies){ | |
423 | if(s->handleGcode(gcode)) { | |
424 | return; | |
425 | } | |
ce9d2bda | 426 | } |
bd96f4d7 | 427 | } |
88443c6b JM |
428 | } |
429 | } | |
430 | ||
778093ce JM |
431 | uint32_t ZProbe::read_probe(uint32_t dummy) |
432 | { | |
433 | if(!probing || probe_detected) return 0; | |
434 | ||
435 | // TODO add debounce/noise filter | |
436 | if(this->pin.get()) { | |
437 | probe_detected= true; | |
438 | // now tell all the stepper_motors to stop | |
439 | for(auto &a : THEKERNEL->robot->actuators) a->force_finish_move(); | |
440 | } | |
441 | return 0; | |
442 | } | |
443 | ||
444 | // special way to probe in the X or Y or Z direction using planned moves, should work with any kinematics | |
a2f1ce04 | 445 | void ZProbe::probe_XYZ(Gcode *gcode, int axis) |
37102904 | 446 | { |
778093ce JM |
447 | // enable the probe checking in the timer |
448 | probing= true; | |
449 | probe_detected= false; | |
450 | THEKERNEL->robot->disable_segmentation= true; // we must disable segmentation as this won't work with it enabled (beware on deltas probing in X or Y) | |
37102904 JM |
451 | |
452 | // get probe feedrate if specified | |
453 | float rate = (gcode->has_letter('F')) ? gcode->get_value('F')*60 : this->slow_feedrate; | |
454 | ||
778093ce JM |
455 | // do a regular move which will stop as soon as the probe is triggered, or the distance is reached |
456 | switch(axis) { | |
457 | case X_AXIS: coordinated_move(gcode->get_value('X'), 0, 0, rate, true); break; | |
458 | case Y_AXIS: coordinated_move(0, gcode->get_value('Y'), 0, rate, true); break; | |
459 | case Z_AXIS: coordinated_move(0, 0, gcode->get_value('Z'), rate, true); break; | |
37102904 JM |
460 | } |
461 | ||
778093ce JM |
462 | // coordinated_move returns when the move is finished |
463 | ||
464 | // disable probe checking | |
465 | probing= false; | |
466 | THEKERNEL->robot->disable_segmentation= false; | |
37102904 JM |
467 | |
468 | float pos[3]; | |
469 | { | |
470 | // get the current position | |
471 | ActuatorCoordinates current_position{ | |
472 | THEKERNEL->robot->actuators[X_AXIS]->get_current_position(), | |
473 | THEKERNEL->robot->actuators[Y_AXIS]->get_current_position(), | |
474 | THEKERNEL->robot->actuators[Z_AXIS]->get_current_position() | |
475 | }; | |
476 | ||
477 | // get machine position from the actuator position using FK | |
478 | THEKERNEL->robot->arm_solution->actuator_to_cartesian(current_position, pos); | |
479 | } | |
480 | ||
778093ce | 481 | uint8_t probeok= this->probe_detected ? 1 : 0; |
b76a9926 | 482 | |
17f26e01 | 483 | // print results using the GRBL format |
b76a9926 | 484 | gcode->stream->printf("[PRB:%1.3f,%1.3f,%1.3f:%d]\n", pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok); |
4440e123 | 485 | THEKERNEL->robot->set_last_probe_position(std::make_tuple(pos[X_AXIS], pos[Y_AXIS], pos[Z_AXIS], probeok)); |
b76a9926 | 486 | |
778093ce JM |
487 | if(!probeok) { |
488 | if(gcode->subcode == 2) { | |
489 | // issue error if probe was not triggered and subcode == 2 | |
490 | gcode->stream->printf("ALARM:Probe fail\n"); | |
491 | THEKERNEL->call_event(ON_HALT, nullptr); | |
37102904 | 492 | |
778093ce JM |
493 | }else{ |
494 | // if the probe stopped the move we need to correct the last_milestone as it did not reach where it thought | |
495 | THEKERNEL->robot->reset_position_from_current_actuator_position(); | |
496 | } | |
497 | } | |
37102904 JM |
498 | } |
499 | ||
88443c6b | 500 | // Called periodically to change the speed to match acceleration |
a157d099 | 501 | void ZProbe::acceleration_tick(void) |
88443c6b | 502 | { |
a157d099 | 503 | if(!this->running) return; // nothing to do |
fa7bcf7e | 504 | if(STEPPER[Z_AXIS]->is_moving()) accelerate(Z_AXIS); |
88443c6b | 505 | |
fa7bcf7e JM |
506 | if(is_delta) { |
507 | // deltas needs to move all actuators | |
508 | for ( int c = X_AXIS; c <= Y_AXIS; c++ ) { | |
509 | if( !STEPPER[c]->is_moving() ) continue; | |
510 | accelerate(c); | |
511 | } | |
512 | } | |
88443c6b | 513 | |
a157d099 | 514 | return; |
fa7bcf7e | 515 | } |
88443c6b | 516 | |
fa7bcf7e JM |
517 | void ZProbe::accelerate(int c) |
518 | { uint32_t current_rate = STEPPER[c]->get_steps_per_second(); | |
c8f4ee77 | 519 | uint32_t target_rate = floorf(this->current_feedrate); |
88443c6b | 520 | |
c5fe1787 JM |
521 | // Z may have a different acceleration to X and Y |
522 | float acc= (c==Z_AXIS) ? THEKERNEL->planner->get_z_acceleration() : THEKERNEL->planner->get_acceleration(); | |
fa7bcf7e | 523 | if( current_rate < target_rate ) { |
a157d099 | 524 | uint32_t rate_increase = floorf((acc / THEKERNEL->acceleration_ticks_per_second) * STEPS_PER_MM(c)); |
fa7bcf7e JM |
525 | current_rate = min( target_rate, current_rate + rate_increase ); |
526 | } | |
527 | if( current_rate > target_rate ) { | |
528 | current_rate = target_rate; | |
88443c6b JM |
529 | } |
530 | ||
fa7bcf7e | 531 | // steps per second |
d6ba35b8 | 532 | STEPPER[c]->set_speed(current_rate); |
88443c6b | 533 | } |
681a62d7 JM |
534 | |
535 | // issue a coordinated move directly to robot, and return when done | |
536 | // Only move the coordinates that are passed in as not nan | |
e0be983d | 537 | // NOTE must use G53 to force move in machine coordiantes and ignore any WCS offsetts |
037c350d | 538 | void ZProbe::coordinated_move(float x, float y, float z, float feedrate, bool relative) |
681a62d7 JM |
539 | { |
540 | char buf[32]; | |
037c350d JM |
541 | char cmd[64]; |
542 | ||
543 | if(relative) strcpy(cmd, "G91 G0 "); | |
e0be983d | 544 | else strcpy(cmd, "G53 G0 "); // G53 forces movement in machine coordinate system |
037c350d | 545 | |
681a62d7 | 546 | if(!isnan(x)) { |
037c350d | 547 | int n = snprintf(buf, sizeof(buf), " X%1.3f", x); |
681a62d7 JM |
548 | strncat(cmd, buf, n); |
549 | } | |
550 | if(!isnan(y)) { | |
037c350d | 551 | int n = snprintf(buf, sizeof(buf), " Y%1.3f", y); |
681a62d7 JM |
552 | strncat(cmd, buf, n); |
553 | } | |
554 | if(!isnan(z)) { | |
037c350d | 555 | int n = snprintf(buf, sizeof(buf), " Z%1.3f", z); |
681a62d7 JM |
556 | strncat(cmd, buf, n); |
557 | } | |
558 | ||
559 | // use specified feedrate (mm/sec) | |
037c350d | 560 | int n = snprintf(buf, sizeof(buf), " F%1.1f", feedrate * 60); // feed rate is converted to mm/min |
681a62d7 | 561 | strncat(cmd, buf, n); |
037c350d JM |
562 | if(relative) strcat(cmd, " G90"); |
563 | ||
564 | //THEKERNEL->streams->printf("DEBUG: move: %s\n", cmd); | |
681a62d7 | 565 | |
037c350d JM |
566 | // send as a command line as may have multiple G codes in it |
567 | struct SerialMessage message; | |
568 | message.message = cmd; | |
569 | message.stream = &(StreamOutput::NullStream); | |
570 | THEKERNEL->call_event(ON_CONSOLE_LINE_RECEIVED, &message ); | |
681a62d7 JM |
571 | THEKERNEL->conveyor->wait_for_empty_queue(); |
572 | } | |
573 | ||
574 | // issue home command | |
575 | void ZProbe::home() | |
576 | { | |
577 | Gcode gc("G28", &(StreamOutput::NullStream)); | |
578 | THEKERNEL->call_event(ON_GCODE_RECEIVED, &gc); | |
579 | } | |
57e927fa JM |
580 | |
581 | float ZProbe::zsteps_to_mm(float steps) | |
582 | { | |
583 | return steps / Z_STEPS_PER_MM; | |
584 | } |